#include <router_node.h>

Inheritance diagram for multi_robot_router::Router_Node:

Public Member Functions
void	monitorExecution ()
	monitors the execution More...

void	publish ()
	publishes a RoutingTable More...

void	publishEmpty ()
	publishes an empty RoutingTable More...

	Router_Node (ros::NodeHandle &n)
	Construct a new Router_Node object. More...

void	updateTimeout (const float _secs)
	used to update the nodes timeout to latch topics More...

Public Attributes
ros::NodeHandle	n_
	Node handler to the root node. More...

ros::NodeHandle	n_param_
	Node handler to the current node. More...

Private Member Functions
float	calcRadius (const int shape, const std::vector< float > &shape_variables) const

size_t	getHash (const std::vector< signed char > &_map, const Eigen::Vector2d &_origin, const float &_resolution)

size_t	getHash (const std::vector< Segment > &_graph)

float	getYaw (const geometry_msgs::Quaternion &_rot)

void	goalCallback (const geometry_msgs::PoseStamped &_goal)

void	goalsCallback (const tuw_multi_robot_msgs::RobotGoalsArray &_goals)

void	graphCallback (const tuw_multi_robot_msgs::Graph &msg)

void	mapCallback (const nav_msgs::OccupancyGrid &_map)

void	odomCallback (const ros::MessageEvent< nav_msgs::Odometry const > &_event, int _topic)

void	parametersCallback (tuw_multi_robot_router::routerConfig &config, uint32_t level)

bool	preparePlanning (std::vector< float > &_radius, std::vector< Eigen::Vector3d > &_starts, std::vector< Eigen::Vector3d > &_goals, const tuw_multi_robot_msgs::RobotGoalsArray &_ros_goals, std::vector< std::string > &robot_names)

void	robotInfoCallback (const tuw_multi_robot_msgs::RobotInfo &_robotInfo)

void	unsubscribeTopic (std::string _robot_name)

Private Member Functions inherited from multi_robot_router::Router
uint32_t	getDuration_ms () const
	getter More...

float	getLongestPathLength () const
	getter More...

float	getOverallPathLength () const
	getter More...

uint32_t	getPriorityScheduleAttemps () const
	getter More...

const std::vector< Checkpoint > &	getRoute (const uint32_t _robot) const
	returns the found Routing Table More...

uint32_t	getSpeedScheduleAttemps () const
	getter More...

bool	makePlan (const std::vector< Eigen::Vector3d > &_starts, const std::vector< Eigen::Vector3d > &_goals, const std::vector< float > &_radius, const cv::Mat &_map, const float &_resolution, const Eigen::Vector2d &_origin, const std::vector< Segment > &_graph, const std::vector< std::string > &_robot_names)
	generates the plan from (Vertex[odom robotPose] to Vertex[_goals] More...

void	resize (const uint32_t _nr_robots)
	resizes the planner to a different nr of _nr_robots More...

	Router (const uint32_t _nr_robots)

	Router ()

void	setCollisionResolutionType (const SegmentExpander::CollisionResolverType _cr)
	sets the CollisionResolverType used More...

void	setPlannerType (routerType _type, uint32_t _nr_threads)

Static Private Member Functions
static bool	sortSegments (const Segment &i, const Segment &j)

Private Attributes
std::vector< RobotInfoPtr >	active_robots_
	robots avaliable More...

int	attempts_successful_

int	attempts_total_

dynamic_reconfigure::Server< tuw_multi_robot_router::routerConfig >::CallbackType	call_type

size_t	current_graph_hash_

size_t	current_map_hash_

cv::Mat	distMap_

std::map< std::string, double >	finished_robots_
	robots currently used by the planner More...

bool	freshPlan_ = false

std::string	goal_topic_

bool	got_graph_ = false

bool	got_map_ = false

std::vector< Segment >	graph_

int	id_

std::string	map_topic_

Eigen::Vector2d	mapOrigin_

float	mapResolution_

std::vector< std::string >	missing_robots_
	robots finished with execution time More...

bool	monitor_enabled_

tuw_multi_robot_msgs::RouterStatus	mrrp_status_

std::string	odom_topic_

dynamic_reconfigure::Server< tuw_multi_robot_router::routerConfig >	param_server

std::string	path_topic_

std::string	planner_status_topic_

bool	publish_routing_table_

ros::Publisher	pubPlannerStatus_

std::string	robot_info_topic_

float	robot_radius_max_

std::string	route_topic_

std::string	singleRobotGoalTopic_

std::string	singleRobotName_ = ""

ros::Subscriber	subGoalSet_

ros::Subscriber	subMap_

std::vector< ros::Subscriber >	subOdom_

ros::Subscriber	subRobotInfo_

std::vector< RobotInfoPtr >	subscribed_robots_

ros::Subscriber	subSingleRobotGoal_

ros::Subscriber	subVoronoiGraph_

double	sum_processing_time_successful_

double	sum_processing_time_total_

ros::Time	time_first_robot_started_

float	topic_timeout_s_ = 10

std::string	voronoi_topic_

Private Attributes inherited from multi_robot_router::Router
std::shared_ptr< float >	potential_

bool	collisionResolver_ = true

goalMode	goalMode_ = goalMode::use_voronoi_goal

graphType	graphMode_ = graphType::voronoi

bool	priorityRescheduling_ = true

float	routerTimeLimit_s_ = 10.0

bool	segmentOptimizations_ = false

bool	speedRescheduling_ = true

Additional Inherited Members
Private Types inherited from multi_robot_router::Router
enum	goalMode { goalMode::use_segment_goal, goalMode::use_voronoi_goal, goalMode::use_map_goal }

enum	graphType { graphType::voronoi, graphType::random }

enum	routerType { routerType::singleThread, routerType::multiThreadSrr }

Detailed Description

Definition at line 53 of file router_node.h.

Constructor & Destructor Documentation

multi_robot_router::Router_Node::Router_Node ( ros::NodeHandle & n )

Construct a new Router_Node object.

Parameters

n	the nodehandle to register publishers and subscribers

Definition at line 62 of file router_node.cpp.

Member Function Documentation

float multi_robot_router::Router_Node::calcRadius	(	const int	shape,
		const std::vector< float > &	shape_variables
	)		const

private

Definition at line 231 of file router_node.cpp.

size_t multi_robot_router::Router_Node::getHash	(	const std::vector< signed char > &	_map,
		const Eigen::Vector2d &	_origin,
		const float &	_resolution
	)

private

Definition at line 533 of file router_node.cpp.

std::size_t multi_robot_router::Router_Node::getHash ( const std::vector< Segment > & _graph )

private

Definition at line 547 of file router_node.cpp.

float multi_robot_router::Router_Node::getYaw ( const geometry_msgs::Quaternion & _rot )

private

Definition at line 393 of file router_node.cpp.

void multi_robot_router::Router_Node::goalCallback ( const geometry_msgs::PoseStamped & _goal )

private

Definition at line 142 of file router_node.cpp.

void multi_robot_router::Router_Node::goalsCallback ( const tuw_multi_robot_msgs::RobotGoalsArray & _goals )

private

Definition at line 341 of file router_node.cpp.

void multi_robot_router::Router_Node::graphCallback ( const tuw_multi_robot_msgs::Graph & msg )

private

Definition at line 259 of file router_node.cpp.

void multi_robot_router::Router_Node::mapCallback ( const nav_msgs::OccupancyGrid & _map )

private

Definition at line 199 of file router_node.cpp.

void multi_robot_router::Router_Node::monitorExecution ( )

monitors the execution

Definition at line 104 of file router_node.cpp.

void multi_robot_router::Router_Node::odomCallback	(	const ros::MessageEvent< nav_msgs::Odometry const > &	_event,
		int	_topic
	)

private

void multi_robot_router::Router_Node::parametersCallback	(	tuw_multi_robot_router::routerConfig &	config,
		uint32_t	level
	)

private

Definition at line 159 of file router_node.cpp.

bool multi_robot_router::Router_Node::preparePlanning	(	std::vector< float > &	_radius,
		std::vector< Eigen::Vector3d > &	_starts,
		std::vector< Eigen::Vector3d > &	_goals,
		const tuw_multi_robot_msgs::RobotGoalsArray &	_ros_goals,
		std::vector< std::string > &	robot_names
	)

private

Definition at line 300 of file router_node.cpp.

void multi_robot_router::Router_Node::publish ( )

publishes a RoutingTable

Definition at line 424 of file router_node.cpp.

void multi_robot_router::Router_Node::publishEmpty ( )

publishes an empty RoutingTable

Definition at line 401 of file router_node.cpp.

void multi_robot_router::Router_Node::robotInfoCallback ( const tuw_multi_robot_msgs::RobotInfo & _robotInfo )

private

Definition at line 240 of file router_node.cpp.

static bool multi_robot_router::Router_Node::sortSegments	(	const Segment &	i,
		const Segment &	j
	)

inlinestaticprivate

Definition at line 142 of file router_node.h.

void multi_robot_router::Router_Node::unsubscribeTopic ( std::string _robot_name )

private

void multi_robot_router::Router_Node::updateTimeout ( const float _secs )

used to update the nodes timeout to latch topics

Parameters

secs	the seconds passed since the last update

Definition at line 153 of file router_node.cpp.

Member Data Documentation

std::vector<RobotInfoPtr> multi_robot_router::Router_Node::active_robots_

private

robots avaliable

Definition at line 105 of file router_node.h.

int multi_robot_router::Router_Node::attempts_successful_

private

Definition at line 85 of file router_node.h.

int multi_robot_router::Router_Node::attempts_total_

private

Definition at line 84 of file router_node.h.

dynamic_reconfigure::Server<tuw_multi_robot_router::routerConfig>::CallbackType multi_robot_router::Router_Node::call_type

private

Definition at line 94 of file router_node.h.

size_t multi_robot_router::Router_Node::current_graph_hash_

private

Definition at line 126 of file router_node.h.

size_t multi_robot_router::Router_Node::current_map_hash_

private

Definition at line 125 of file router_node.h.

cv::Mat multi_robot_router::Router_Node::distMap_

private

Definition at line 109 of file router_node.h.

std::map<std::string, double> multi_robot_router::Router_Node::finished_robots_

private

robots currently used by the planner

Definition at line 106 of file router_node.h.

bool multi_robot_router::Router_Node::freshPlan_ = false

private

Definition at line 129 of file router_node.h.

std::string multi_robot_router::Router_Node::goal_topic_

private

Definition at line 115 of file router_node.h.

bool multi_robot_router::Router_Node::got_graph_ = false

private

Definition at line 123 of file router_node.h.

bool multi_robot_router::Router_Node::got_map_ = false

private

Definition at line 122 of file router_node.h.

std::vector<Segment> multi_robot_router::Router_Node::graph_

private

Definition at line 124 of file router_node.h.

int multi_robot_router::Router_Node::id_

private

Definition at line 127 of file router_node.h.

std::string multi_robot_router::Router_Node::map_topic_

private

Definition at line 116 of file router_node.h.

Eigen::Vector2d multi_robot_router::Router_Node::mapOrigin_

private

Definition at line 110 of file router_node.h.

float multi_robot_router::Router_Node::mapResolution_

private

Definition at line 111 of file router_node.h.

std::vector<std::string> multi_robot_router::Router_Node::missing_robots_

private

robots finished with execution time

Definition at line 107 of file router_node.h.

bool multi_robot_router::Router_Node::monitor_enabled_

private

Definition at line 131 of file router_node.h.

tuw_multi_robot_msgs::RouterStatus multi_robot_router::Router_Node::mrrp_status_

private

Definition at line 91 of file router_node.h.

ros::NodeHandle multi_robot_router::Router_Node::n_

Node handler to the root node.

Definition at line 79 of file router_node.h.

ros::NodeHandle multi_robot_router::Router_Node::n_param_

Node handler to the current node.

Definition at line 80 of file router_node.h.

std::string multi_robot_router::Router_Node::odom_topic_

private

Definition at line 113 of file router_node.h.

dynamic_reconfigure::Server<tuw_multi_robot_router::routerConfig> multi_robot_router::Router_Node::param_server

private

Definition at line 93 of file router_node.h.

std::string multi_robot_router::Router_Node::path_topic_

private

Definition at line 114 of file router_node.h.

std::string multi_robot_router::Router_Node::planner_status_topic_

private

Definition at line 119 of file router_node.h.

bool multi_robot_router::Router_Node::publish_routing_table_

private

Definition at line 121 of file router_node.h.

ros::Publisher multi_robot_router::Router_Node::pubPlannerStatus_

private

Definition at line 95 of file router_node.h.

std::string multi_robot_router::Router_Node::robot_info_topic_

private

Definition at line 117 of file router_node.h.

float multi_robot_router::Router_Node::robot_radius_max_

private

Definition at line 108 of file router_node.h.

std::string multi_robot_router::Router_Node::route_topic_

private

Definition at line 112 of file router_node.h.

std::string multi_robot_router::Router_Node::singleRobotGoalTopic_

private

Definition at line 120 of file router_node.h.

std::string multi_robot_router::Router_Node::singleRobotName_ = ""

private

Definition at line 130 of file router_node.h.

ros::Subscriber multi_robot_router::Router_Node::subGoalSet_

private

Definition at line 98 of file router_node.h.

ros::Subscriber multi_robot_router::Router_Node::subMap_

private

Definition at line 99 of file router_node.h.

std::vector<ros::Subscriber> multi_robot_router::Router_Node::subOdom_

private

Definition at line 97 of file router_node.h.

ros::Subscriber multi_robot_router::Router_Node::subRobotInfo_

private

Definition at line 102 of file router_node.h.

std::vector<RobotInfoPtr> multi_robot_router::Router_Node::subscribed_robots_

private

Definition at line 104 of file router_node.h.

ros::Subscriber multi_robot_router::Router_Node::subSingleRobotGoal_

private

Definition at line 100 of file router_node.h.

ros::Subscriber multi_robot_router::Router_Node::subVoronoiGraph_

private

Definition at line 101 of file router_node.h.

double multi_robot_router::Router_Node::sum_processing_time_successful_

private

Definition at line 87 of file router_node.h.

double multi_robot_router::Router_Node::sum_processing_time_total_

private

Definition at line 86 of file router_node.h.

ros::Time multi_robot_router::Router_Node::time_first_robot_started_

private

Definition at line 89 of file router_node.h.

float multi_robot_router::Router_Node::topic_timeout_s_ = 10

private

Definition at line 128 of file router_node.h.

std::string multi_robot_router::Router_Node::voronoi_topic_

private

Definition at line 118 of file router_node.h.

The documentation for this class was generated from the following files:

Public Member Functions

Public Attributes

Private Member Functions

Static Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation